CN108571320B - Coal mining machine multi-stage control method for intelligent fully-mechanized coal mining face - Google Patents
Coal mining machine multi-stage control method for intelligent fully-mechanized coal mining face Download PDFInfo
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
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Abstract
The invention provides a coal mining machine multi-stage control method for an intelligent fully mechanized coal mining face, which can predict future danger in advance when gas concentration fluctuation is abnormal, lead the alarm time to be ahead, and properly adjust the traction speed of a coal mining machine according to the level of the danger. The method comprises the following steps: setting a plurality of gas concentration threshold values according to the danger degree, setting a plurality of early warning levels according to the gas concentration threshold values, and setting the traction speed of the coal mining machine corresponding to the early warning levels one to one; acquiring a gas concentration monitoring value of a monitoring area at the current moment, and obtaining a gas concentration prediction value at the future moment according to the gas concentration monitoring value at the current moment, time series data and an ARMA model-based time series data prediction method; wherein, the time interval between the future time and the current time is 3-10 minutes; judging the current early warning level according to the relation between the predicted value of the gas concentration at the future moment and the threshold value of the gas concentration; and setting the traction speed of the coal mining machine at the current moment according to the current early warning level.
Description
Technical Field
The invention belongs to the technical field of intelligent fully-mechanized coal mining face coal mining machine control, and relates to a coal mining machine multi-stage control method for an intelligent fully-mechanized coal mining face.
Background
The fully mechanized coal mining face is an important production place of coal, and the safe production management is always a core problem. With the continuous development of the coal mine automation technology, the intelligent production of the fully mechanized working face is realized in part of mining areas represented by the Huang Ling mining industry, the coupling between single-machine equipment of the working face and the coupling of environmental parameters such as gas, roof pressure and the like of the equipment and the working face are realized by adding sensing elements of the single-machine equipment on the working face, an operator can master the running condition of the working face equipment at any time through a video picture of the working face in a monitoring center, and the remote control can be carried out on the working face equipment through a remote operation console.
The coal mining machine is one of important large-scale production devices of a fully mechanized coal mining face, and is important in mechanization, automation and modernization of coal mine production, and an autonomous control and monitoring system of the coal mining machine in an unmanned face is the core and key for realizing automatic coal mining of the coal mine.
For a high gas coal seam, the gas emission is unbalanced in the mining process, and meanwhile, the traction speed of the intelligent fully-mechanized coal mining face coal mining machine is directly related to the gas emission amount of the working face. At present, the method of an intelligent fully mechanized mining face is that a coal mining machine works at a certain traction speed, and simultaneously, the gas concentration mainly comprising the gas at the upper corner of the working face and the return air crossheading is monitored; and when the upper corner and the return air gateway gas sensor give an alarm, stopping running the coal mining machine and interrupting the whole coal mining work. The alarm of the operation mode has hysteresis, and is extremely unfavorable for the safe and efficient production of the intelligent fully-mechanized coal mining face.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a coal mining machine multi-stage control method for an intelligent fully-mechanized coal mining face, which is used for establishing a coupling relation between gas concentration and the traction speed of a coal mining machine, predicting future danger in advance when the gas concentration fluctuates abnormally, leading the alarm time, and properly adjusting the traction speed of the coal mining machine according to the danger level to ensure that the working face can produce safely and efficiently.
The invention is realized by the following technical scheme:
a multi-stage control method for a coal mining machine of an intelligent fully mechanized coal mining face comprises the following steps,
step 1, setting a plurality of gas concentration threshold values according to the danger degree, setting a plurality of early warning levels according to the gas concentration threshold values, setting the traction speeds of coal mining machines corresponding to the early warning levels one by one, and reducing the corresponding traction speeds of the coal mining machines along with the rise of the early warning levels;
step 2, acquiring a gas concentration monitoring value of a monitoring area at the current moment, and obtaining a gas concentration predicted value at the future moment according to the gas concentration monitoring value at the current moment, time series data and an ARMA model-based time series data prediction method; wherein, the time interval between the future time and the current time is 3-10 minutes;
step 3, judging the current early warning level according to the relation between the predicted value of the gas concentration at the future time and the threshold value of the gas concentration;
and 4, setting the traction speed of the coal mining machine at the current moment according to the current early warning level.
Preferably, the gas concentration threshold values are A0, A1, A2, A3 and A4 from low to high in sequence, the early warning levels are green early warning, blue early warning, yellow early warning, orange early warning and red early warning from low to high in sequence, and the traction speed of the coal mining machine is 4-level, 3-level, 2-level, 1-level and 0-level from high to low in sequence.
Further, the method for judging the early warning level in step 3 specifically comprises the following steps:
when the predicted value of the gas concentration is less than or equal to A0, judging as green early warning;
when the gas concentration prediction value is greater than A0 and less than or equal to A1, judging the gas concentration prediction value to be green early warning or blue early warning;
when the gas concentration prediction value is greater than A1 and less than or equal to A2, judging the gas concentration prediction value to be green early warning or blue early warning;
when the gas concentration prediction value is greater than A2 and less than or equal to A3, judging the gas concentration prediction value to be blue early warning or yellow early warning;
when the predicted value of the gas concentration is greater than A3 and less than or equal to A4, judging the gas concentration as an orange early warning;
and when the predicted value of the gas concentration is greater than A4, judging the gas concentration to be red and early warning.
Further, when the predicted gas concentration is greater than A0 and less than or equal to A1; if the predicted value of the gas concentration is less than or equal to the maximum value of the gas concentration in the previous preset time period, the current early warning level is green early warning; if the predicted value of the gas concentration is larger than the maximum value of the gas concentration in the previous preset time period, the current early warning level is blue early warning;
when the predicted gas concentration value is greater than A1 and less than or equal to A2; if the predicted value of the gas concentration is less than or equal to the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is green early warning; if the gas concentration predicted value is larger than the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is blue early warning;
when the predicted gas concentration value is greater than A2 and less than or equal to A3; if the predicted value of the gas concentration is less than or equal to the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is blue early warning; if the predicted value of the gas concentration is larger than the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is yellow early warning;
wherein the predetermined period of time is from half a month to a year.
Still further, the predetermined time period is 1 month and the confidence level of the confidence interval is 99%.
Further, the gas concentration threshold values A0, A1, A2, A3 and A4 are respectively 0.2% -0.3%, 0.40% -0.43%, 0.52% -0.55%, 0.62% -0.65%, 0.72% -0.75% and 0.8%; the proportions of the coal mining machine traction speeds corresponding to the coal mining machine traction speed levels of 4, 3, 2, 1 and 0 to the set normal coal mining machine traction speed are respectively 100%, 80% -85%, 55% -65%, 25% -35% and 0%.
Still further, the gas concentration threshold values a0, a1, a2, A3 and a4 are respectively 0.3%, 0.40%, 0.55%, 0.65%, 0.75% and 0.8%; the proportions of the coal mining machine traction speeds corresponding to the coal mining machine traction speeds of 4-level, 3-level, 2-level, 1-level and 0-level and the set normal coal mining machine traction speed are respectively 100%, 80%, 60%, 30% and 0%.
Preferably, in step 2, the time interval between the future time and the current time is 5 minutes.
Preferably, the corner is used as a monitoring area, an early warning level is obtained through the steps 2 and 3, then the return air gateway is used as the monitoring area, and the steps 2 and 3 are repeated to obtain another early warning level; and 4, setting the traction speed of the coal mining machine according to the higher early warning level of the two early warning levels.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the method, a plurality of gas concentration threshold values and a plurality of early warning levels are set, and the traction speeds of the coal mining machines corresponding to the early warning levels one to one are set, so that the coupling incidence relation between the traction speed of the coal mining machine on the intelligent working face and the gas concentration of a monitoring area is established. The gas alarm is set to be a plurality of early warning levels, different levels of early warning are carried out according to gas concentration values before the highest alarm level responds, the early warning levels are increased along with the increase of the gas concentration of a monitoring area, so that workers can judge the danger degree according to the early warning levels, the traction speed of the coal mining machine is properly reduced, the gas emission speed is reduced after the traction speed of the coal mining machine is reduced, the gas concentration of the monitoring area can be controlled, and the explosion danger caused by the further increase of the gas concentration is avoided. The method does not perform early warning according to the monitored current gas concentration monitoring value, but performs prediction according to the current gas concentration monitoring value to obtain a gas concentration predicted value at a certain future moment, performs early warning according to the gas concentration predicted value and performs corresponding processing.
Furthermore, on the basis of judging the early warning level according to the gas concentration threshold, the confidence interval and the maximum value of the previous preset time period are used as the conditions for judging the early warning level, so that the relation between the gas concentration and the gas concentration of the previous preset time period is taken into consideration instead of using the gas concentration threshold as the absolute value for judging the early warning level, and the early warning level is judged more accurately.
Furthermore, an early warning mode that the upper corner gas concentration and the return air crossheading gas concentration are unified indexes is established, and compared with a single-point early warning value, the early warning is more objective and efficient.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention relates to a multistage control method of an intelligent fully mechanized mining face coal mining machine, which analyzes and establishes a coupling relation between the upper corner and the concentration of return air crossheading gas and the traction speed of the coal mining machine; unifying the upper corner and the return air crossheading gas into an evaluation object named as 'linkage control gas concentration'; dividing the early warning value of the linkage control gas concentration into 5 grades of red, orange, yellow, blue and green from high to low, wherein the red is in a warning state, the green is in a safety state, and the other 3 grades are in early warning states; dividing the traction speed of the coal mining machine into 4, 3, 2, 1 and 0 grades from high to low, wherein the 4 grade is the maximum traction speed of the coal mining machine, the 0 grade is the stop state of the coal mining machine, and the other 3 grades are the intermediate values of the traction speed; and correlating the early warning value with the traction speed of the coal mining machine to realize linkage control of the linkage control gas concentration and the traction speed of the coal mining machine.
Basic definition of gas early warning:
1. the gas concentration threshold is divided into A0, A1, A2, A3, A4 and A5, and if the actually executed gas alarm and production stop standard of an ore is 0.8%, the following character substitution rules are made: a0, A1, A2, A3 and A4 are 0.2% -0.3%, 0.40% -0.43%, 0.52% -0.55%, 0.62% -0.65%, 0.72% -0.75% and 0.8% respectively; in the present example, a0, a1, a2, A3, a4 and a5 are preferably 0.3%, 0.40%, 0.55%, 0.65%, 0.75% and 0.8%, respectively.
2, the early warning level is as follows: red early warning, orange early warning, yellow early warning, blue early warning and green early warning are 5 grades.
3, the traction speed of the coal cutter is as follows: the ratio of the corresponding haulage speed of the coal mining machine to the set normal haulage speed of the coal mining machine is respectively 100%, 80% -85%, 55% -65%, 25% -35% and 0%, preferably respectively 100%, 80%, 60%, 30% and 0%.
4. The single-point gas concentration monitoring value is a gas concentration value of a certain monitoring area at the current moment, which is obtained by the coal mine monitoring host.
5. And (4) superposing a prediction range by using a gas concentration prediction value, time sequence data and the statistical characteristics of the previous 1 month as a comparison. The prediction range can be 3-10 minutes, preferably 5 minutes in the embodiment, and the prediction method is used for predicting the gas data according to the gas concentration monitoring value at the current time and the database historical data by adopting a time sequence data prediction method based on an ARMA model to obtain the gas concentration prediction value at the future time separated from the current time by 5 minutes.
The multistage control process of the coal mining machine comprises the following steps:
step 1, acquiring respective gas concentration monitoring values of an upper corner and a return air gateway at the current moment through a coal mine monitoring host;
step 2, taking the real-time monitoring value of the corner in 1-12 months as an analysis basis, and obtaining a gas concentration predicted value of the future time of the corner by adopting a time series data prediction method based on an ARMA model according to the gas concentration monitoring value of the current time of the corner;
step 3, calculating 99% confidence interval of the upper corner in the last month, and judging the early warning level according to the relationship between the predicted gas concentration value of the upper corner at the future time and the gas concentration threshold value and the confidence interval;
step 4, taking the real-time monitoring value of the return air gateway for 1-12 months as an analysis basis, and obtaining a gas concentration predicted value of the return air gateway at the future time by adopting a time series data prediction method based on an ARMA model according to the gas concentration monitoring value of the return air gateway at the current time;
step 5, calculating 99% confidence interval of the return air gateway of the last month, and judging the early warning level according to the relationship between the predicted value of the gas concentration of the return air gateway at the future moment and the gas concentration threshold value and the confidence interval;
and 6, setting the traction speed of the coal mining machine at the current moment according to the higher early warning level in the early warning levels obtained in the steps 3 and 5.
The confidence level of the confidence interval can also be 98%, and the same early warning effect can also be achieved.
The specific rule of the early warning level judgment is as follows:
main condition 1: when the predicted value of the gas concentration is less than or equal to 0.3 percent:
if the predicted value of the gas concentration is less than or equal to the upper limit of the 99% confidence interval in the previous 1 month, the current state of the index is green; if the predicted gas concentration value is greater than the upper limit of the 99% confidence interval in the previous 1 month, but less than 0.3%. The current state of the index is green.
Main condition 2: when the predicted value of the gas concentration is less than or equal to A1 by 0.3%:
if the predicted value of the gas concentration is less than or equal to the upper limit of the 99% confidence interval in the previous 1 month, the current state of the index is green; if the upper limit of the 99% confidence interval in the previous 1 month is less than the gas concentration predicted value and less than or equal to the maximum value in the previous 1 month, the current state of the index is green;
if the predicted gas concentration value is larger than the maximum value X of the previous 1 monthmax% and the gas concentration level is below A1, and the current state of the index is a blue early warning, which should be paid proper attention.
Main condition 3: when the predicted value of the A1 < gas concentration is less than or equal to A2:
if the predicted value of the gas concentration is less than or equal to the upper limit of the 99% confidence interval in the previous 1 month, the overall level of the gas concentration is always maintained at a higher level, and the current state of the index is green, but the index is paid proper attention to;
if the upper limit of the 99% confidence interval in the previous 1 month is less than the predicted value of the gas concentration and less than or equal to the maximum value in the previous 1 month, the predicted value of the gas concentration is X%, the predicted value is already at the upper edge of the normal variation range, although the predicted value does not exceed the maximum value X in the previous 1 monthmaxPercent, the current state of the index is blue warning;
if the predicted gas concentration value is larger than the maximum value in the previous 1 month, the predicted gas concentration value is X percent and is higher than the maximum value X in the previous 1 monthmaxAnd percent, the change range of the index exceeds the change range of the index in the previous 1 month, the index shows a certain degree of abnormity, attention needs to be paid, and the current state of the index is blue early warning.
Main condition 4: the predicted value of the gas concentration is more than A2 and less than or equal to A3:
if the predicted value of the gas concentration is less than or equal to the upper limit of the 99% confidence interval in the previous 1 month, the predicted value of the gas concentration is X%, and is less than the upper limit of the 99% confidence interval in the previous 1 monthmaxPercent, which indicates that the overall gas concentration in the area is always maintained at a very high level and important attention must be paid, and the current state of the index is blue early warning;
if the upper limit of the 99% confidence interval in the previous 1 month is less than the predicted value of the gas concentration and less than or equal to the maximum value in the previous 1 month, the predicted value of the gas concentration is X%, the predicted value is positioned at the upper edge of the variation range of the previous 1 month, and the predicted value does not exceed the maximum value Xmax% indicates that the overall gas concentration in the area is always maintained at a high level, and important attention must be paid to the current state of the indexEarly warning for yellow;
if the predicted gas concentration value is larger than the maximum value in the previous 1 month, the predicted gas concentration value is X percent and is higher than the maximum value X in the previous 1 monthmaxAnd percent, the change range of the indicator is obviously beyond the change range of the indicator in the previous 1 month, the indicator is abnormal, the current gas concentration is very high, special key attention must be paid, and the current state of the indicator is yellow early warning.
Main condition 5: the predicted value of the gas concentration is more than A3 and less than or equal to A4:
if the predicted value of the gas concentration is less than or equal to the upper limit of the 99% confidence interval in the previous 1 month, the predicted value of the current gas concentration is X%, the predicted value is within the reasonable fluctuation range of the previous 1 month, but is higher than A3, and approaches a limit value which is specified by a regulation and needs to take action immediately, which shows that the gas concentration level in the area is always maintained at a very high level, and continuous important attention must be paid, and the current state of the index is orange early warning;
if the upper limit of the 99% confidence interval in the previous 1 month is less than the predicted value of the gas concentration and less than or equal to the maximum value in the previous 1 month, the predicted value of the gas concentration is X%, although the predicted value does not exceed the maximum value X in the previous 1 monthmaxPercent, but is higher than A3, is close to a limit value which is regulated by a regulation and needs to take action immediately, shows a certain degree of abnormity, and must be paid attention immediately without interruption, and the current state of the index is orange early warning;
if the predicted gas concentration value is larger than the maximum value in the previous 1 month, the predicted gas concentration value is X percent and is higher than the maximum value X in the previous 1 monthmaxAnd percent is obviously beyond the normal fluctuation range of the measuring point and is higher than A3, the limit value which is required to take action immediately and is specified by the regulation is approached, obvious abnormity is shown, special important attention must be given immediately, an emergency plan is prepared to be started, and the current state of the index is orange early warning.
Main condition 6: a4 < predicted gas concentration:
if the predicted value of the gas concentration is more than A4 and less than or equal to A5, the predicted value of the gas concentration is X percent and is higher than A4, the predicted value is very close to a limit value A5 which is specified by a regulation and needs to take action immediately, the important attention must be paid immediately and continuously, an emergency plan is prepared to be started, and the current state of the index is red early warning;
if A5 is less than the predicted gas concentration value, the predicted gas concentration value is X% and is higher than the limit value A5 specified by the regulation and needing to take action immediately, the pre-plan must be started immediately for processing, and the current state of the index is red alarm.
The multistage control rule is specifically as follows:
red early warning is carried out, the traction speed of the coal mining machine is 0 grade, and the coal mining machine stops;
orange early warning, wherein the traction speed of the coal mining machine is grade 1, and the ratio of the traction speed of the coal mining machine to the set normal traction speed of the coal mining machine is 30 percent;
yellow early warning, wherein the traction speed of the coal mining machine is 2 grades, and the ratio of the traction speed of the coal mining machine to the set normal traction speed of the coal mining machine is 60 percent;
blue early warning, wherein the traction speed of the coal mining machine is grade 3, and the ratio of the traction speed of the coal mining machine to the set normal traction speed of the coal mining machine is 80 percent;
green early warning, the traction speed of the coal mining machine is 4 grades, and the proportion of the traction speed of the coal mining machine to the set normal traction speed of the coal mining machine is 100 percent.
The period of the gas concentration predicted value is consistent with that of real-time data inspection, the period of the real-time data inspection is 9-15 seconds generally, namely, a gas concentration monitoring value is obtained every 9-15 seconds, and then a gas concentration predicted value is obtained every 9-15 seconds. Thereby realizing real-time gas early warning.
The intelligent production multistage control method for the coal mining machine, disclosed by the invention, is characterized in that a coupling relation between sensor parameters of 'upper corner + return air crossheading gas' and the traction speed of the coal mining machine is established, a predicted value of the next 5 minutes is obtained according to a real-time measured value of the gas, and then the gas is early warned according to a confidence interval and a threshold range; when the data fluctuation of the gas sensor is abnormal, future danger can be predicted in advance, the alarm time is advanced, the traction speed of the coal mining machine is properly adjusted according to the danger level, the safe and efficient production of a working surface can be ensured, and the safe and efficient production of a high-gas unmanned working surface is really realized.
The multistage control method of the coal mining machine is not only suitable for controlling the coal mining machine on the high-gas intelligent fully-mechanized mining face, but also can be applied to controlling the coal mining machine on the intelligent working face of a low-gas mine and the general fully-mechanized mining face of the gas mine.
Claims (6)
1. A coal mining machine multi-stage control method of an intelligent fully mechanized coal mining face is characterized by comprising the following steps,
step 1, setting a plurality of gas concentration threshold values according to the danger degree, setting a plurality of early warning levels according to the gas concentration threshold values, setting the traction speeds of coal mining machines corresponding to the early warning levels one by one, and reducing the corresponding traction speeds of the coal mining machines along with the rise of the early warning levels;
step 2, acquiring a gas concentration monitoring value of a monitoring area at the current moment, and obtaining a gas concentration predicted value at the future moment according to the gas concentration monitoring value at the current moment, time series data and an ARMA model-based time series data prediction method; wherein, the time interval between the future time and the current time is 3-10 minutes;
step 3, judging the current early warning level according to the relation between the predicted value of the gas concentration at the future time and the threshold value of the gas concentration;
step 4, setting the traction speed of the coal mining machine at the current moment according to the current early warning level;
the gas concentration threshold values are A0, A1, A2, A3 and A4 from low to high in sequence, the early warning levels are green early warning, blue early warning, yellow early warning, orange early warning and red early warning from low to high in sequence, and the traction speed of the coal mining machine is 4-level, 3-level, 2-level, 1-level and 0-level from high to low in sequence;
the method for judging the early warning level in the step 3 specifically comprises the following steps:
when the predicted value of the gas concentration is less than or equal to A0, judging as green early warning;
when the gas concentration prediction value is greater than A0 and less than or equal to A1, judging the gas concentration prediction value to be green early warning or blue early warning;
when the gas concentration prediction value is greater than A1 and less than or equal to A2, judging the gas concentration prediction value to be green early warning or blue early warning;
when the gas concentration prediction value is greater than A2 and less than or equal to A3, judging the gas concentration prediction value to be blue early warning or yellow early warning;
when the predicted value of the gas concentration is greater than A3 and less than or equal to A4, judging the gas concentration as an orange early warning;
when the predicted value of the gas concentration is greater than A4, judging the gas concentration as red early warning;
when the predicted gas concentration value is greater than A0 and less than or equal to A1; if the predicted value of the gas concentration is less than or equal to the maximum value of the gas concentration in the previous preset time period, the current early warning level is green early warning; if the predicted value of the gas concentration is larger than the maximum value of the gas concentration in the previous preset time period, the current early warning level is blue early warning;
when the predicted gas concentration value is greater than A1 and less than or equal to A2; if the predicted value of the gas concentration is less than or equal to the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is green early warning; if the gas concentration predicted value is larger than the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is blue early warning;
when the predicted gas concentration value is greater than A2 and less than or equal to A3; if the predicted value of the gas concentration is less than or equal to the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is blue early warning; if the predicted value of the gas concentration is larger than the upper limit of the 98-99% confidence interval of the previous preset time period, the current early warning level is yellow early warning;
wherein the predetermined period of time is from half a month to a year.
2. The method of claim 1, wherein the predetermined time period is 1 month and the confidence level of the confidence interval is 99%.
3. The multi-stage control method for the coal mining machine of the intelligent fully-mechanized coal mining face of claim 1, wherein the gas concentration thresholds a0, a1, a2, A3 and a4 are 0.2% -0.3%, 0.40% -0.43%, 0.52% -0.55%, 0.62% -0.65% and 0.72% -0.75%, respectively; the proportions of the coal mining machine traction speeds corresponding to the coal mining machine traction speed levels of 4, 3, 2, 1 and 0 to the set normal coal mining machine traction speed are respectively 100%, 80% -85%, 55% -65%, 25% -35% and 0%.
4. The method for controlling the coal mining machine of the intelligent fully mechanized mining face in multiple stages according to claim 3, wherein the gas concentration thresholds A0, A1, A2, A3 and A4 are 0.3%, 0.40%, 0.55%, 0.65% and 0.75%, respectively; the proportions of the coal mining machine traction speeds corresponding to the coal mining machine traction speeds of 4-level, 3-level, 2-level, 1-level and 0-level and the set normal coal mining machine traction speed are respectively 100%, 80%, 60%, 30% and 0%.
5. The method for controlling the coal mining machine of the intelligent fully mechanized mining face according to claim 1, wherein in the step 2, the time interval between the future time and the current time is 5 minutes.
6. The method for controlling the coal mining machine of the intelligent fully-mechanized coal mining face according to claim 1, wherein the upper corner is used as a monitoring area, an early warning level is obtained through the steps 2 and 3, then a return air gateway is used as the monitoring area, and the steps 2 and 3 are repeated to obtain another early warning level; and 4, setting the traction speed of the coal mining machine according to the higher early warning level of the two early warning levels.
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| CN111007827A (en) * | 2020-03-11 | 2020-04-14 | 天津美腾科技股份有限公司 | Alarm method of equipment, equipment and computer readable storage medium |
| CN111859258B (en) * | 2020-08-06 | 2023-11-03 | 中煤科工集团重庆研究院有限公司 | Method for rapidly judging and identifying abnormal change time of gas concentration of roadway during outburst |
| CN112282733A (en) * | 2020-10-29 | 2021-01-29 | 中煤科工集团重庆研究院有限公司 | Method for determining coal bed gas abnormity by gas emission quantity characteristic while drilling |
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| CN103244120B (en) * | 2013-05-23 | 2015-07-29 | 北京天地玛珂电液控制系统有限公司 | A kind of high methane coal mine comprehensive face coal cutter speed kinetic-control system |
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